OpenRaiser/Intern-Atlas huggingface dataset:
From Blind Spots to Gains: Diagnostic-Driven Iterative Training for Large Multimodal Models
Venue: arXiv cs.CV 2026
Year: 2026

As Large Multimodal Models (LMMs) scale up and reinforcement learning (RL) methods mature, LMMs have made notable progress in complex reasoning and decision making. Yet training still relies on static data and fixed recipes, making it difficult to diagnose capability blind spots or provide dynamic, targeted reinforcement. Motivated by findings that test driven error exposure and feedback based correction outperform repetitive practice, we propose Diagnostic-driven Progressive Evolution (DPE), a spiral loop where diagnosis steers data generation and reinforcement, and each iteration re-diagnoses the updated model to drive the next round of targeted improvement. DPE has two key components. First, multiple agents annotate and quality control massive unlabeled multimodal data, using tools such as web search and image editing to produce diverse, realistic samples. Second, DPE attributes failures to specific weaknesses, dynamically adjusts the data mixture, and guides agents to generate weakness focused data for targeted reinforcement. Experiments on Qwen3-VL-8B-Instruct and Qwen2.5-VL-7B-Instruct show stable, continual gains across eleven benchmarks, indicating DPE as a scalable paradigm for continual LMM training under open task distributions. Our code, models, and data are publicly available at https://github.com/hongruijia/DPE.
GraspLDP: Towards Generalizable Grasping Policy via Latent Diffusion
Venue: arXiv cs.RO 2026
Year: 2026

This paper focuses on enhancing the grasping precision and generalization of manipulation policies learned via imitation learning. Diffusion-based policy learning methods have recently become the mainstream approach for robotic manipulation tasks. As grasping is a critical subtask in manipulation, the ability of imitation-learned policies to execute precise and generalizable grasps merits particular attention. Existing imitation learning techniques for grasping often suffer from imprecise grasp executions, limited spatial generalization, and poor object generalization. To address these challenges, we incorporate grasp prior knowledge into the diffusion policy framework. In particular, we employ a latent diffusion policy to guide action chunk decoding with grasp pose prior, ensuring that generated motion trajectories adhere closely to feasible grasp configurations. Furthermore, we introduce a self-supervised reconstruction objective during diffusion to embed the graspness prior: at each reverse diffusion step, we reconstruct wrist-camera images back-projected the graspness from the intermediate representations. Both simulation and real robot experiments demonstrate that our approach significantly outperforms baseline methods and exhibits strong dynamic grasping capabilities.
Effective QA-driven Annotation of Predicate-Argument Relations Across Languages
Venue: arXiv cs.CL 2026
Year: 2026

Explicit representations of predicate-argument relations form the basis of interpretable semantic analysis, supporting reasoning, generation, and evaluation. However, attaining such semantic structures requires costly annotation efforts and has remained largely confined to English. We leverage the Question-Answer driven Semantic Role Labeling (QA-SRL) framework -- a natural-language formulation of predicate-argument relations -- as the foundation for extending semantic annotation to new languages. To this end, we introduce a cross-linguistic projection approach that reuses an English QA-SRL parser within a constrained translation and word-alignment pipeline to automatically generate question-answer annotations aligned with target-language predicates. Applied to Hebrew, Russian, and French -- spanning diverse language families -- the method yields high-quality training data and fine-tuned, language-specific parsers that outperform strong multilingual LLM baselines (GPT-4o, LLaMA-Maverick). By leveraging QA-SRL as a transferable natural-language interface for semantics, our approach enables efficient and broadly accessible predicate-argument parsing across languages.
Rejection Mixing: Fast Semantic Propagation of Mask Tokens for Efficient DLLM Inference
Venue: arXiv cs.CL 2026
Year: 2026

Diffusion Large Language Models (DLLMs) promise fast non-autoregressive inference but suffer a severe quality-speed trade-off in parallel decoding. This stems from the ''combinatorial contradiction'' phenomenon, where parallel tokens form semantically inconsistent combinations. We address this by integrating continuous representations into the discrete decoding process, as they preserve rich inter-position dependency. We propose ReMix (Rejection Mixing), a framework that introduces a novel Continuous Mixing State as an intermediate between the initial masked state and the final decoded token state. This intermediate state allows a token's representation to be iteratively refined in a continuous space, resolving mutual conflicts with other tokens before collapsing into a final discrete sample. Furthermore, a rejection rule reverts uncertain representations from the continuous state back to the masked state for reprocessing, ensuring stability and preventing error propagation. ReMix thus mitigates combinatorial contradictions by enabling continuous-space refinement during discrete diffusion decoding. Extensive experiments demonstrate that ReMix, as a training-free method, achieves a $2-8 \times$ inference speedup without any quality degradation.
OmniGAIA: Towards Native Omni-Modal AI Agents
Venue: arXiv cs.AI 2026
Year: 2026

Human intelligence naturally intertwines omni-modal perception -- spanning vision, audio, and language -- with complex reasoning and tool usage to interact with the world. However, current multi-modal LLMs are primarily confined to bi-modal interactions (e.g., vision-language), lacking the unified cognitive capabilities required for general AI assistants. To bridge this gap, we introduce OmniGAIA, a comprehensive benchmark designed to evaluate omni-modal agents on tasks necessitating deep reasoning and multi-turn tool execution across video, audio, and image modalities. Constructed via a novel omni-modal event graph approach, OmniGAIA synthesizes complex, multi-hop queries derived from real-world data that require cross-modal reasoning and external tool integration. Furthermore, we propose OmniAtlas, a native omni-modal foundation agent under tool-integrated reasoning paradigm with active omni-modal perception. Trained on trajectories synthesized via a hindsight-guided tree exploration strategy and OmniDPO for fine-grained error correction, OmniAtlas effectively enhances the tool-use capabilities of existing open-source models. This work marks a step towards next-generation native omni-modal AI assistants for real-world scenarios.
Bayesian Preference Elicitation: Human-In-The-Loop Optimization of An Active Prosthesis
Venue: arXiv cs.RO 2026
Year: 2026

Tuning active prostheses for people with amputation is time-consuming and relies on metrics that may not fully reflect user needs. We introduce a human-in-the-loop optimization (HILO) approach that leverages direct user preferences to personalize a standard four-parameter prosthesis controller efficiently. Our method employs preference-based Multiobjective Bayesian Optimization that uses a state-or-the-art acquisition function especially designed for preference learning, and includes two algorithmic variants: a discrete version (\textit{EUBO-LineCoSpar}), and a continuous version (\textit{BPE4Prost}). Simulation results on benchmark functions and real-application trials demonstrate efficient convergence, robust preference elicitation, and measurable biomechanical improvements, illustrating the potential of preference-driven tuning for user-centered prosthesis control.
WaterVideoQA: ASV-Centric Perception and Rule-Compliant Reasoning via Multi-Modal Agents
Venue: arXiv cs.CV 2026
Year: 2026

While autonomous navigation has achieved remarkable success in passive perception (e.g., object detection and segmentation), it remains fundamentally constrained by a void in knowledge-driven, interactive environmental cognition. In the high-stakes domain of maritime navigation, the ability to bridge the gap between raw visual perception and complex cognitive reasoning is not merely an enhancement but a critical prerequisite for Autonomous Surface Vessels to execute safe and precise maneuvers. To this end, we present WaterVideoQA, the first large-scale, comprehensive Video Question Answering benchmark specifically engineered for all-waterway environments. This benchmark encompasses 3,029 video clips across six distinct waterway categories, integrating multifaceted variables such as volatile lighting and dynamic weather to rigorously stress-test ASV capabilities across a five-tier hierarchical cognitive framework. Furthermore, we introduce NaviMind, a pioneering multi-agent neuro-symbolic system designed for open-ended maritime reasoning. By synergizing Adaptive Semantic Routing, Situation-Aware Hierarchical Reasoning, and Autonomous Self-Reflective Verification, NaviMind transitions ASVs from superficial pattern matching to regulation-compliant, interpretable decision-making. Experimental results demonstrate that our framework significantly transcends existing baselines, establishing a new paradigm for intelligent, trustworthy interaction in dynamic maritime environments.
MSINO: Curvature-Aware Sobolev Optimization for Manifold Neural Networks
Venue: arXiv cs.LG 2026
Year: 2026

We introduce Manifold Sobolev Informed Neural Optimization (MSINO), a curvature aware training framework for neural networks defined on Riemannian manifolds. The method replaces standard Euclidean derivative supervision with a covariant Sobolev loss that aligns gradients using parallel transport and improves stability via a Laplace Beltrami smoothness regularization term. Building on classical results in Riemannian optimization and Sobolev theory on manifolds, we derive geometry dependent constants that yield (i) a Descent Lemma with a manifold Sobolev smoothness constant, (ii) a Sobolev Polyak Lojasiewicz inequality giving linear convergence guarantees for Riemannian gradient descent and stochastic gradient descent under explicit step size bounds, and (iii) a two step Newton Sobolev method with local quadratic contraction in curvature controlled neighborhoods. Unlike prior Sobolev training in Euclidean space, MSINO provides training time guarantees that explicitly track curvature and transported Jacobians. Applications include surface imaging, physics informed learning settings, and robotics on Lie groups such as SO(3) and SE(3). The framework unifies value and gradient based learning with curvature aware convergence guarantees for neural training on manifolds.
pMoE: Prompting Diverse Experts Together Wins More in Visual Adaptation
Venue: arXiv cs.CV 2026
Year: 2026

Parameter-efficient fine-tuning has demonstrated promising results across various visual adaptation tasks, such as classification and segmentation. Typically, prompt tuning techniques have harnessed knowledge from a single pre-trained model, whether from a general or a specialized medical domain. However, this approach typically overlooks the potential synergies that could arise from integrating diverse domain knowledge within the same tuning process. In this work, we propose a novel Mixture-of-Experts prompt tuning method called pMoE, which leverages the strengths of multiple expert domains through expert-specialized prompt tokens and the learnable dispatcher, effectively combining their expertise in a unified model framework. Our pMoE introduces expert-specific prompt tokens and utilizes a dynamic token dispatching mechanism at various prompt layers to optimize the contribution of each domain expert during the adaptation phase. By incorporating both domain knowledge from diverse experts, the proposed pMoE significantly enhances the model's versatility and applicability to a broad spectrum of tasks. We conduct extensive experiments across 47 adaptation tasks, including both classification and segmentation in general and medical domains. The results demonstrate that our pMoE not only achieves superior performance with a large margin of improvements but also offers an optimal trade-off between computational efficiency and adaptation effectiveness compared to existing methods.
Certified Circuits: Stability Guarantees for Mechanistic Circuits
Venue: arXiv cs.AI 2026
Year: 2026

Understanding how neural networks arrive at their predictions is essential for debugging, auditing, and deployment. Mechanistic interpretability pursues this goal by identifying circuits - minimal subnetworks responsible for specific behaviors. However, existing circuit discovery methods are brittle: circuits depend strongly on the chosen concept dataset and often fail to transfer out-of-distribution, raising doubts whether they capture concept or dataset-specific artifacts. We introduce Certified Circuits, which provide provable stability guarantees for circuit discovery. Our framework wraps any black-box discovery algorithm with randomized data subsampling to certify that circuit component inclusion decisions are invariant to bounded edit-distance perturbations of the concept dataset. Unstable neurons are abstained from, yielding circuits that are more compact and more accurate. On ImageNet and OOD datasets, certified circuits achieve up to 91% higher accuracy while using 45% fewer neurons, and remain reliable where baselines degrade. Certified Circuits puts circuit discovery on formal ground by producing mechanistic explanations that are provably stable and better aligned with the target concept. Code will be released soon!
Modeling Expert AI Diagnostic Alignment via Immutable Inference Snapshots
Venue: arXiv cs.AI 2026
Year: 2026

Human-in-the-loop validation is essential in safety-critical clinical AI, yet the transition between initial model inference and expert correction is rarely analyzed as a structured signal. We introduce a diagnostic alignment framework in which the AI-generated image based report is preserved as an immutable inference state and systematically compared with the physician-validated outcome. The inference pipeline integrates a vision-enabled large language model, BERT- based medical entity extraction, and a Sequential Language Model Inference (SLMI) step to enforce domain-consistent refinement prior to expert review. Evaluation on 21 dermatological cases (21 complete AI physician pairs) em- ployed a four-level concordance framework comprising exact primary match rate (PMR), semantic similarity-adjusted rate (AMR), cross-category alignment, and Comprehensive Concordance Rate (CCR). Exact agreement reached 71.4% and remained unchanged under semantic similarity (t = 0.60), while structured cross-category and differential overlap analysis yielded 100% comprehensive concordance (95% CI: [83.9%, 100%]). No cases demonstrated complete diagnostic divergence. These findings show that binary lexical evaluation substantially un- derestimates clinically meaningful alignment. Modeling expert validation as a structured transformation enables signal-aware quantification of correction dynamics and supports traceable, human aligned evaluation of image based clinical decision support systems.
Residual Koopman Spectral Profiling for Predicting and Preventing Transformer Training Instability
Venue: arXiv cs.LG 2026
Year: 2026

Training divergence in transformers wastes compute, yet practitioners discover instability only after expensive runs begin. They therefore need an expected probability of failure for a transformer before training starts. Our study of Residual Koopman Spectral Profiling (RKSP) provides such an estimate. From a single forward pass at initialization, RKSP extracts Koopman spectral features by applying whitened dynamic mode decomposition to layer-wise residual snapshots. Our central diagnostic, the near-unit spectral mass, quantifies the fraction of modes concentrated near the unit circle, which captures instability risk. For predicting divergence across extensive configurations, this estimator achieves an AUROC of 0.995, outperforming the best gradient baseline. We further make this diagnostic actionable through Koopman Spectral Shaping (KSS), which reshapes spectra during training. We empirically validate that our method works in practice: RKSP predicts divergence at initialization, and when RKSP flags high risk, turning on KSS successfully prevents divergence. In the challenging high learning rate regime without normalization layers, KSS reduces the divergence rate from 66.7% to 12.5% and enables learning rates that are 50% to 150% higher. These findings generalize to WikiText-103 language modeling, vision transformers on CIFAR-10, and pretrained language models, including GPT-2 and LLaMA-2 up to 7B, as well as emerging architectures such as MoE, Mamba-style SSMs, and KAN.
HELMLAB: An Analytical, Data-Driven Color Space for Perceptual Distance in UI Design Systems
Venue: arXiv cs.GR 2026
Year: 2026

We present HELMLAB, a 72-parameter analytical color space for UI design systems. The forward transform maps CIE XYZ to a perceptually-organized Lab representation through learned matrices, per-channel power compression, Fourier hue correction, and embedded Helmholtz-Kohlrausch lightness adjustment. A post-pipeline neutral correction guarantees that achromatic colors map to a=b=0 (chroma < 10^-6), and a rigid rotation of the chromatic plane improves hue-angle alignment without affecting the distance metric, which is invariant under isometries. On the COMBVD dataset (3,813 color pairs), HELMLAB achieves a STRESS of 23.30, a 20.2% reduction from CIEDE2000 (29.18). A blue-band refit with sub-dataset penalties reduces gradient non-uniformity in the blue-cyan region by 8.9x at a cost of only +0.08 STRESS. Cross-validation on He et al. 2022 and MacAdam 1974 shows competitive cross-dataset performance. The transform is invertible with round-trip errors below 10^-14. Gamut mapping, design-token export, and dark/light mode adaptation utilities are included for use in web and mobile design systems.
WISER: Wider Search, Deeper Thinking, and Adaptive Fusion for Training-Free Zero-Shot Composed Image Retrieval
Venue: arXiv cs.CV 2026
Year: 2026

Zero-Shot Composed Image Retrieval (ZS-CIR) aims to retrieve target images given a multimodal query (comprising a reference image and a modification text), without training on annotated triplets. Existing methods typically convert the multimodal query into a single modality-either as an edited caption for Text-to-Image retrieval (T2I) or as an edited image for Image-to-Image retrieval (I2I). However, each paradigm has inherent limitations: T2I often loses fine-grained visual details, while I2I struggles with complex semantic modifications. To effectively leverage their complementary strengths under diverse query intents, we propose WISER, a training-free framework that unifies T2I and I2I via a "retrieve-verify-refine" pipeline, explicitly modeling intent awareness and uncertainty awareness. Specifically, WISER first performs Wider Search by generating both edited captions and images for parallel retrieval to broaden the candidate pool. Then, it conducts Adaptive Fusion with a verifier to assess retrieval confidence, triggering refinement for uncertain retrievals, and dynamically fusing the dual-path for reliable ones. For uncertain retrievals, WISER generates refinement suggestions through structured self-reflection to guide the next retrieval round toward Deeper Thinking. Extensive experiments demonstrate that WISER significantly outperforms previous methods across multiple benchmarks, achieving relative improvements of 45% on CIRCO (mAP@5) and 57% on CIRR (Recall@1) over existing training-free methods. Notably, it even surpasses many training-dependent methods, highlighting its superiority and generalization under diverse scenarios. Code will be released at https://github.com/Physicsmile/WISER.
D-FINE-seg: Object Detection and Instance Segmentation Framework with multi-backend deployment
Venue: arXiv cs.CV 2026
Year: 2026

Transformer-based real-time object detectors achieve strong accuracy-latency trade-offs, and D-FINE is among the top-performing recent architectures. However, real-time instance segmentation with transformers is still less common. We present D-FINE-seg, an instance segmentation extension of D-FINE that adds: a lightweight mask head, segmentation-aware training, including box cropped BCE and dice mask losses, auxiliary and denoising mask supervision, and adapted Hungarian matching cost. On the TACO dataset, D-FINE-seg improves F1-score over Ultralytics YOLO26 under a unified TensorRT FP16 end-to-end benchmarking protocol, while maintaining competitive latency. Second contribution is an end-to-end pipeline for training, exporting, and optimized inference across ONNX, TensorRT, OpenVINO for both object detection and instance segmentation tasks. This framework is released as open-source under the Apache-2.0 license. GitHub repository - https://github.com/ArgoHA/D-FINE-seg.
An Empirical Analysis of Cooperative Perception for Occlusion Risk Mitigation
Venue: arXiv cs.RO 2026
Year: 2026

Occlusions present a significant challenge for connected and automated vehicles, as they can obscure critical road users from perception systems. Traditional risk metrics often fail to capture the cumulative nature of these threats over time adequately. In this paper, we propose a novel and universal risk assessment metric, the Risk of Tracking Loss (RTL), which aggregates instantaneous risk intensity throughout occluded periods. This provides a holistic risk profile that encompasses both high-intensity, short-term threats and prolonged exposure. Utilizing diverse and high-fidelity real-world datasets, a large-scale statistical analysis is conducted to characterize occlusion risk and validate the effectiveness of the proposed metric. The metric is applied to evaluate different vehicle-to-everything (V2X) deployment strategies. Our study shows that full V2X penetration theoretically eliminates this risk, the reduction is highly nonlinear; a substantial statistical benefit requires a high penetration threshold of 75-90%. To overcome this limitation, we propose a novel asymmetric communication framework that allows even non-connected vehicles to receive warnings. Experimental results demonstrate that this paradigm achieves better risk mitigation performance. We found that our approach at 25% penetration outperforms the traditional symmetric model at 75%, and benefits saturate at only 50% penetration. This work provides a crucial risk assessment metric and a cost-effective, strategic roadmap for accelerating the safety benefits of V2X deployment.
Quantity Convergence, Quality Divergence: Disentangling Fluency and Accuracy in L2 Mandarin Prosody
Venue: arXiv cs.CL 2026
Year: 2026

While second language (L2) learners may acquire target syntactic word order, mapping this syntax onto appropriate prosodic structures remains a persistent challenge. This study investigates the fossilization and stability of the L2 syntax-prosody interface by comparing 67 native Mandarin speakers with 67 Vietnamese learners using the BLCU-SAIT corpus. By integrating C-ToBI boundary annotation with Dependency Grammar analysis, we examined both the quantity of prosodic boundaries and their mapping to syntactic relations. Results reveal a non-linear acquisition: although high-proficiency learners (VNH) converge to the native baseline in boundary quantity at the Major Phrase level (B3), their structural mapping significantly diverges. Specifically, VNH demote the prosodic boundary at the Subject-Verb (SBV) interface (Major Phrase B3 -> Prosodic Word B1), while erroneously promoting the boundary at the Verb-Object (VOB) interface (Prosodic Word B1 -> Major Phrase B3). This strategy allows learners to maintain high long phrasal output at the expense of structural accuracy. This results in a distorted prosodic hierarchy where the native pattern is inverted.